A Generalized Udwadia–Kalaba Control Design With Speed Inequality Constraints
提出一种广义Udwadia-Kalaba控制方法，同时处理等式和速度不等式约束，通过Lyapunov方法证明系统一致有界性，并在不确定长距离带式输送机系统中验证可行性。
This article proposes a generalized Udwadia-Kalaba control method to simultaneously handle equality and speed inequality constraints. First, a dynamic model that includes both of these constraints is established, and the state transformation is carried out through diffeomorphism state transition theory. At the same time, limitations are imposed on the difference between the estimated state variables designed in this article and the actual state variables. Then, a robust control strategy is designed to ensure that the equality constraints and speed inequality constraints are satisfied. By utilizing the Lyapunov approach, the uniform boundedness and uniform ultimate boundedness of the dynamical system are demonstrated. Finally, the feasibility of the proposed method was verified through an uncertain long-distance belt conveyor system.